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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef ROBOTMODEL_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define ROBOTMODEL_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keywordtype">void</span> copyData(<span class="keywordtype">int</span> * dst,<span class="keywordtype">int</span>*src,<span class="keywordtype">int</span> width,<span class="keywordtype">float</span> k=1.0);</div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keywordtype">void</span> copyData(<span class="keywordtype">int</span> ** dst,<span class="keywordtype">int</span>** src,<span class="keywordtype">int</span> width,<span class="keywordtype">int</span> hight,<span class="keywordtype">float</span> k=1.0);</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keywordtype">void</span> copyDataBlock(<span class="keywordtype">int</span> * dst,<span class="keywordtype">int</span>* src,<span class="keywordtype">int</span> width,<span class="keywordtype">int</span> hight,<span class="keywordtype">float</span> k);</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">using</span>  Eigen::Matrix3f;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">using</span>  Eigen::Vector3f;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">using</span>  Eigen::VectorXi;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">using</span>  Eigen::Vector4f;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">将难理解的刻度转换为 向量来表示。</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>MODEL{</div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="struct_m_o_d_e_l_1_1angle__info.html">   19</a></span>&#160;<span class="keyword">struct </span><a class="code" href="struct_m_o_d_e_l_1_1angle__info.html">angle_info</a></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordtype">float</span> left_leg  [4];<span class="comment">//rotateX, rotateY, rotateZ, len</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordtype">float</span> right_leg [4];</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">float</span> left_hand  [3];<span class="comment">//rotateX, rotateY, len</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">float</span> right_hand[3];</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">float</span> left_foot [2];<span class="comment">//rotateX, rotateY</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">float</span> right_foot[2];</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">float</span> head[2];</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;};</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">enum</span> side</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    LEFT=1,</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    RIGHT</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;};</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;};</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">typedef</span> Eigen::Matrix4f PoseArray;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define RX(R) AngleAxisf(R,Vector3f::UnitX())</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define RY(R) AngleAxisf(R,Vector3f::UnitY())</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define RZ(R) AngleAxisf(R,Vector3f::UnitZ())</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor"></span>PoseArray setPoseArray(Matrix3f T,Vector3f v);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;PoseArray initPoseArray(Vector3f v);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;Vector3f getPose(PoseArray a);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classrobot_model.html">   43</a></span>&#160; <span class="keyword">class </span><a class="code" href="classrobot_model.html">robotModel</a></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <a class="code" href="classrobot_model.html">robotModel</a>();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keywordtype">void</span> setLeg(<span class="keywordtype">double</span> rotateX,<span class="keywordtype">double</span> rotateY,<span class="keywordtype">double</span> rotateZ,<span class="keywordtype">double</span> len,<span class="keywordtype">int</span> leg);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordtype">void</span> setFoot(<span class="keywordtype">double</span> rotateX,<span class="keywordtype">double</span> rotateY,<span class="keywordtype">int</span> leg);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keywordtype">void</span> setHand(<span class="keywordtype">double</span> rotateX,<span class="keywordtype">double</span> rotateY,<span class="keywordtype">double</span> len,<span class="keywordtype">int</span> hand_side);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordtype">void</span> setHead(<span class="keywordtype">double</span> rotateY,<span class="keywordtype">double</span> rotateZ);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keywordtype">void</span> getData(<span class="keywordtype">int</span> *d);<span class="comment">//写出舵机数据</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keywordtype">void</span> modifyData(<span class="keywordtype">int</span> *d);<span class="comment">//将外部数据写入。</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keywordtype">void</span> showParam(<span class="keywordtype">int</span> leg);<span class="comment">//</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordtype">void</span> updataParam(<span class="keywordtype">int</span> leg);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">void</span> test();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classrobot_model.html">robotModel</a>();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        Vector3f m_pos_leg_left;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        Vector3f m_pos_leg_right;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        VectorXi m_array;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        Vector4f m_leg_vec_left;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        Vector4f m_leg_vec_right;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        Vector3f m_hand_vec_left;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        Vector3f m_hand_vec_right;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <a class="code" href="struct_m_o_d_e_l_1_1angle__info.html">MODEL::angle_info</a> m_info;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> d_p_s=300.0/1024;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> r_p_s=M_PI/614.4;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> leg_length=10.8;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> hand_length=11;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordtype">int</span> *m_data;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classrobot_model__three_point.html">   82</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrobot_model__three_point.html">robotModel_threePoint</a> :<span class="keyword">public</span> <a class="code" href="classrobot_model.html">robotModel</a></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    PoseArray p_foot_left;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    PoseArray p_foot_right;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    PoseArray p_body;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    PoseArray p_hip_left;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    PoseArray p_hip_right;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">//only can read</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <a class="code" href="classrobot_model__three_point.html">robotModel_threePoint</a>(){init();is_new=1;}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">void</span> init();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    ~<a class="code" href="classrobot_model__three_point.html">robotModel_threePoint</a>(){}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">void</span> setLeg(<span class="keywordtype">double</span> rotateX,<span class="keywordtype">double</span> rotateY,<span class="keywordtype">double</span> rotateZ,<span class="keywordtype">double</span> len,<span class="keywordtype">int</span> leg);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">//len= 11+ 0~19.6</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    Vector3f cal_referCentroid(<span class="keywordtype">int</span> leg=0);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">//void setXcXz(double Xc,double Xz);</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordtype">double</span> calTilt(<span class="keywordtype">double</span> dy=0,<span class="keywordtype">int</span> leg=0);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Vector3f calHip(<span class="keywordtype">int</span> leg);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">void</span> setZMP_CM(<span class="keywordtype">double</span> cm,<span class="keywordtype">double</span> zmp);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">void</span> setParam(<span class="keywordtype">double</span> rx,<span class="keywordtype">double</span> ry);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">void</span> fixParam(<span class="keywordtype">double</span> rx,<span class="keywordtype">double</span> ry);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">void</span> test();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">bool</span> is_new;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordtype">double</span> d,Mdm,h;<span class="comment">//const</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">double</span> m_rx,m_ry;<span class="comment">//rotate body</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">double</span> m_rx_fixed,m_ry_fixed;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;};</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif // ROBOTMODEL_H</span></div>
<div class="ttc" id="classrobot_model__three_point_html"><div class="ttname"><a href="classrobot_model__three_point.html">robotModel_threePoint</a></div><div class="ttdef"><b>Definition:</b> robotModel.h:82</div></div>
<div class="ttc" id="struct_m_o_d_e_l_1_1angle__info_html"><div class="ttname"><a href="struct_m_o_d_e_l_1_1angle__info.html">MODEL::angle_info</a></div><div class="ttdef"><b>Definition:</b> robotModel.h:19</div></div>
<div class="ttc" id="classrobot_model_html"><div class="ttname"><a href="classrobot_model.html">robotModel</a></div><div class="ttdef"><b>Definition:</b> robotModel.h:43</div></div>
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    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><b>robotModel.h</b></li>
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